【作者】 徐冬；

【导师】 胡志强；

【作者基本信息】 东北大学 ， 机械工程， 2021， 硕士

【摘要】 水空两用推进器是跨域海洋机器人的关键组件,驱动跨域海洋机器人实现在水/空两种介质中的运动。本文提出一种结构简单、高效率、高推重比的水空推进方案,并对推进器的关键零部件进行设计与优化,最终研制出满足使用要求和性能指标的水空两用推进器。主要研究内容如下:首先,详细介绍了国内外水空两用推进器和单介质推进器的研究现状,并对现有的推进技术进行了总结。根据拟定的性能指标,从工程的角度出发,对所采用的水下和空中推进方案进行融合,提出一种双电机+单螺旋桨的总体推进方案,并根据所研制跨域海洋机器人的运动需求,确定了推进器的总体参数。其次,对水空两用推进器的流体动力部件进行初步设计,建立推进器的三维几何模型,使用CFD数值计算软件STAR CCM+研究推进器的推进特性,并通过逐级寻优的策略,侧重于空中系泊状态的推进性能,对流体动力外形进行功率优化,确定最终了水空两用推进器的结构参数,并对其进行了强度校核。然后,基于双电机+单螺旋桨的总体布局,提出了一种以离心力+流体冲击力作为压紧元件的非接触式离合器,并对该离合器的楔合机理进行研究,采用CFD数值方法分析水流对楔块压紧力的影响。并通过提升流体冲击力矩的方式优化了楔块的楔合稳定性和楔合临界转速,使用动力学数值仿真计算方法验证了本文离合方案和的可行性和优化结果的有效性。最后,对推进器各个零部件加工、采购并装配,完成了推进器原理样机的研制。开展了原理样机的水下和空中的测试试验,并安装到跨域海洋机器人上进行了水下潜航和空中飞行试验,证实了本文水空两用推进方案的可行性。更多还原

【Abstract】 The water-air thruster is a key component of the cross-domain marine robot,which can help the cross-domain marine robot realize the movement in the water/air two media.This paper proposes a reasonable,high-efficiency,high thrust-to-weight ratio water-air propulsion program,and designs and optimizes the key components of the propeller,and finally develops a water-air thruster with excellent performance.The main research contents are as follows:First,it introduces the domestic and foreign water-air thruster and single-medium propellers in detail,and summarizes the existing propulsion technology.According to the proposed performance indicators and from the engineering point of view,the adopted underwater and air propulsion schemes are integrated,and a dual-motor+single-propeller propulsion scheme is proposed.According to the movement requirements of the developed cross-domain marine robot,it is determined The overall parameters of the thruster.Secondly,this paper conducts a preliminary design of the hydrodynamic components of the water-air thruster,establishes the 3D geometric model of the thruster,and uses the CFD numerical calculation platform STAR CCM+to study the hydrodynamic characteristics of the thruster.And through a step-by-step optimization strategy,focusing on the air propulsion performance to optimize the power of the hydrodynamic shape,determine the final structural parameters of the water-air thruster,and conduct a strength check.Then,based on the overall layout of dual motors+single propellers,a non-contact clutch with centrifugal force+fluid impact force as the compression element is proposed,and the wedging mechanism of the clutch is studied,and the CFD numerical method is used to analyze the flow of water.The influence of wedge pressing force.The wedging stability and the wedging threshold speed of the wedge are optimized by increasing the impact torque of the fluid.The dynamic simulation platform is used to verify the feasibility of the clutch scheme and the rationality of the optimization in this paper.Finally,the various parts of the thruster were processed,purchased and assembled,and the prototype of the thruster was developed.The relevant performance test of the principle prototype was carried out,and it was installed on the cross-domain marine robot for diving and real flight,which confirmed the feasibility of the water-air propulsion scheme in this paper.更多还原